Analysis and Evaluation of the Dynamic Performance of SMA Actuators for Prosthetic Hand Design

O'Toole, Kevin; McGrath, Mark M.; Coyle, Eugene

doi:10.1007/s11665-009-9431-9

Cited by 15 publications

(7 citation statements)

References 11 publications

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“…By using the equations (4) to (7), it is possible, for a given posture of the Finger and a given contact situation, to determine the contact forces on the phalanges and therefore assess the force transmission characteristics of the Finger.…”

Section: Force Properties Of Three-phalanx Underactuatedmentioning

confidence: 99%

“…Because the main task of this finger is to grasp objects (so to apply forces to them), it's normal to do the optimization in function of forces criteria. It is very difficult, in the static model (equations (4) to (7)) to isolate each parameter because of the complexity of the system, and to solve the problem, a genetic algorithm was used. The main components of a genetic algorithm for prosthesis robotic hands are as follows [11]:…”

Section: Optimization Of the Designmentioning

confidence: 99%

“…As a result, the stresses on the remaining limbs are reduced, and the prosthesis is felt lighter. Kevin et al [7] described the design of 21 degrees-of freedom, nine degree-ofactuation, gas-actuated arm prosthesis for trans-humeral amputees. The arm incorporated a direct drive elbow and three degree-of-freedom wrist, in addition to a 17 degrees-of-freedom underactuated hand affected by five actuators.…”

Section: Introductionmentioning

confidence: 99%

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Optimal Design of Three-Phalanx Prosthesis Underactuated Fingers Using Genetic Algorithm

H. Bakhy,

S. Hassan,

M. Nacy

et al. 2013

ETJ

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This research is interested to investigate the optimum design procedure for a finger driving mechanism to have a proper configuration of the finger for its utilization in hand prosthesis. To get this goal, a Genetic Algorithm (G.A) was used. Three criteria were selected to find the optimal solution. The most important of them was the percentage of the grasping stability. This criterion was evaluated as must type by using Kepner-tregos method. When the optimal solution was found, this one was modified to facilitate the fabrication of a prototype. The modifications consist of mostly rounding the parameters and uniforming the rollers dimensions. Those changes did not affect too much the forces characteristics. The prosthetic hand prototype was built of hard ABS (Acrylonitrile Butadiene Styrene) plastic using rapid prototyping. Testing results indicate that the proposed Genetic Algorithm gives reasonable -quality results in short computation time.

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Section: Force Properties Of Three-phalanx Underactuatedmentioning

confidence: 99%

Section: Optimization Of the Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Optimal Design of Three-Phalanx Prosthesis Underactuated Fingers Using Genetic Algorithm

H. Bakhy,

S. Hassan,

M. Nacy

et al. 2013

ETJ

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“…However, the overall actuation speed of SMA can suffer due to the sluggish cooling of SMA compared to its heating. Various cooling methods have been proposed to improve the slow cooling speed, such as fan cooling [16], the use of an air compressor [17], the attachment of a mobile heat sink to the SMA [18,19], the application of the Peltier effect [20], and liquidcooling [21,22]. Most cooling methods proposed thus far have been limited to applying active cooling systems to the SMA.…”

Section: Introductionmentioning

confidence: 99%

Soft fabric muscle based on thin diameter SMA springs

Choi

Park

Won

et al. 2022

Smart Mater. Struct.

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This study proposes fabric muscles based on shape memory alloy (SMA) springs coiled with a thin diameter SMA wire of 80 μm to improve heat dissipation under natural convection and forced air cooling. A new structure and its fabrication process are developed to create soft and flexible fabric muscles capable of supplying current and withstanding high external force, using a large number of thin SMA spring bundles. A total of 250 bundles of SMA springs weighing only 3.2 g constitute the fabric muscle that can lift a 1,500 times-heavier mass, where each strand behaved like a muscle fiber. The fabric muscle generates a blocking force of up to 56.54 N and a power density of 2,072 W/kg. In addition, an air-cooling structure similar to a showerhead is proposed to further improve the actuation speed of the fabric muscles and maintain the flexibility of the fabric muscles. The fabric muscle with forced air cooling is cooled 40.5 % faster than that with natural cooling. Finally, the results confirm that forced cooling can drive the muscle cyclically for 5.5 s.

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“…However, it has long been acknowledged as a severe problem that the overall actuation speed of SMAc suffers from its noticeably sluggish cooling compared to heating. To improve the slow cooling speed, various methods have been proposed, such as fan cooling, [ 21,22 ] the use of an air compressor, [ 23 ] attachment of a mobile heat sink to the SMA, [ 24,25 ] application of the Peltier effect, [ 26 ] and liquid‐cooling. [ 27 ] Nevertheless, most cooling methods proposed so far have been limited to applying additional active cooling systems to SMA.…”

Section: Introductionmentioning

confidence: 99%

Cooling‐Accelerated Nanowire‐Nitinol Hybrid Muscle for Versatile Prosthetic Hand and Biomimetic Retractable Claw

Tabassian

Thangasamy

et al. 2021

Adv Funct Materials

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As strong and shape‐conformable as biological muscles, nitinol shape memory alloys (SMAs) artificial muscles have great merit when applied for bio‐inspired robots. However, the low bandwidth and slow actuation speed of SMAs due to their sluggish cooling have long been troublesome, limiting possible applications. Here, to expedite the cooling rate, a Cu nanowire forest is directly grown on the surfaces of 3D shaped SMA coil (SMAc) to increase the surface area by 15 times and boost thermal convection. As a result, the Cu nanowire forest grown SMA coil (CuNF‐SMAc) shows accelerated cooling compared to bare SMAc (B‐SMAc): the actuation speed of CuNF‐SMAc is 100% faster than that of bare SMAc (B‐SMAc) under natural cooling and 170% faster under forced‐air cooling. With this faster actuation, CuNF‐SMAc artificial muscles are employed in a versatile prosthetic hand to bend and flex fingers. The proposed prosthetic hand successfully demonstrates a series of sign language within 4 s for each letter, and rhythmically plays a grand piano. Moreover, unique retractable feline claws are mimicked which demonstrate a fully tunable frictional force just like how cats do it, expanding the potential of a cooling‐accelerated SMAc artificial muscle.

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Analysis and Evaluation of the Dynamic Performance of SMA Actuators for Prosthetic Hand Design

Cited by 15 publications

References 11 publications

Optimal Design of Three-Phalanx Prosthesis Underactuated Fingers Using Genetic Algorithm

Optimal Design of Three-Phalanx Prosthesis Underactuated Fingers Using Genetic Algorithm

Soft fabric muscle based on thin diameter SMA springs

Cooling‐Accelerated Nanowire‐Nitinol Hybrid Muscle for Versatile Prosthetic Hand and Biomimetic Retractable Claw

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